Delta Tau GEO MACRO DRIVE User Manual download pdf (Page 94)

Geo MACRO Drive User Manual

82 Setting Up Turbo Motor Operation

3 is node 4, motor 4 is node 5, motor 6 is node 8, etc) then you can simply use the Configure M

Variables utility in PEWIN32Pro. Tell it to “Download Suggested M Variable Definitions” and click

on the “Use Suggested M Variable Definitions” checkbox. This is highly recommended. You may

wish to replace M-Var definitions for flag variables with those of the MACRO Flag address

definitions.

3) Set MACRO Ivariables:

• I70-I77 ;all motor node bits go high if used – i.e. $33 for nodes 0,1,4,5

• I80 = 5 ;ring check period

• I81=2 ;max ring errors in ring check period

• I82=2 ;minimum sync packets in ring check period

• I6840=$30 ;set MACRO IC 0 as synchronizing ring master

• I6890,I6940,I6990 = $90 ;set MACRO ICs 1,2,3 as ring masters if present

• I6841=$f8000 + $xyza where xyza are the high bits for each node used

• I6891=$1f8000 +$xyza if used

• I6941=$2f8000 +$xyza if used

• I6991=$3f8000 + $xyza if used

4) Issue a “SAVE” command and a “$$$” command from the terminal window in PEWIN32Pro

5) Set up Geo MACRO address, MI996, either by MACSTA command (recommended) or by USB.

This will be equal to bF0000 + xyza where xyza are high bits for each node used and b is the

MACRO IC Master number. At the same time set the station number (MI11) on each drive.

6) Issue a “mssav15mssav31mssav47mssav63” command from the terminal window in PEWIN32Pro,

or a “SAVE” command from Hyperterminal if using USB communications. Now issue a

“ms$$$15ms$$$31ms$$$47ms$$$63” to reset

You should be able to now query the drives from PEWINPro. To confirm that simply issue a

“MSn,MI996” command from the terminal window where n is an active node on the drive you want to

talk to. You should get the value of that MI variable back in the terminal window.

This assumes that you are using the default 2.2kHz servo and 4.5 kHz PWM rate. Note that the max

PWM rate for the Geo MACRO drive is 9 KHz. If you are using another PWM rate you will need to set

the I68xx variables which deal with that.

Issue a “SAVE” and then a Reset “$$$”. It is recommended to then create a backup file with the

PEWIN32PRO.

Now to set up PWM.

1) Check encoder direction – move the motor by hand in the positive direction and make sure that it is

counting up. If it is counting in a negative direction then reverse the value of MI910 – change a 7 to a

3 or a 3 to a 7. Now check again and it should have changed direction.

2) Write a PLC like so:

Open plc10 clear

Mx02=P2

Mx04 = P4

Mx07=P7

Set I5=3 and issue a “SAVE” command from the terminal window. Be sure that there are no other PLCs

in memory as we want this to execute at a very high rate.

3) Check ADC connection. Set Ixx00 = 0 for the motor in question. Add Mx05, Mx06, Mx54 to the

watch window. Set Mx54=1 for that motor. You should now see the enable LED come on for that

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Delta Tau GEO MACRO DRIVE User Manual Page 94

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